"Zapp Brannigan: So, a plot to assassinate a weird looking alien with scissors. How very neutral of you. But everybody knows that rock beats scissors. And scissors beats paper! But paper beats rock Kif, we have a conundrum.
[Kif sighs.]
Zapp Brannigan: Search them for paper... and bring me a rock."

"Leela: You know, Zapp, someone ought to teach you a lesson.
Captain Zapp Brannigan: If it's a lesson in love, watch out. I suffer from a very sexy learning disability. What did I call it, Kiff?
Kif Kroker: Ugh... sexlexia. "

Both Futurama and The Simpsons are creations of Matt Groening, so there's bound to be some crossover. They've had Bender on the Simpsons once and Matt Groening appeared on The Simpsons as himself, but as the creator of Futurama.
Also:
Bender: This is the worst kind of discrimination: the kind against me!

While from Futurama the writers stole it from the Simpsons (not really stealing as they're on in the same.
"it's like there's a party in my mouth and everyone is invited!"
Ken Griffey Jr. and his brain tonic from Mr. Burns